Neural Learning Control of Flexible Joint Manipulator with Predefined Tracking Performance and Application to Baxter Robot
نویسندگان
چکیده
منابع مشابه
Model-Independent Control of a Flexible-Joint Robot Manipulator
Flexibility at the joint of a manipulator is an intrinsic property. Even “rigid-joint” robots, in fact, possess a certain amount of flexibility. Previous experiments confirmed that joint flexibility should be explicitly included in the model when designing a high-performance controller for a manipulator because the flexibility, if not dealt with, can excite system natural frequencies and cause ...
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A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
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ژورنال
عنوان ژورنال: Complexity
سال: 2017
ISSN: 1076-2787,1099-0526
DOI: 10.1155/2017/7683785